Frequency modulation in anthropomorphic robots with kinematic and force redundancies

摘要

Typical biomechanical systems such as human body and mammals possess abundant muscles which are more than required for motion generation of such systems. The purpose of this work is to verify a biological phenomenon, the so called frequency modulation, in a mathematical manner. The frequency modulation represents simultaneous control of force and kinematic redundancies. The phenomenon of frequency modulation is explained through a human-like anthropomorphic robot. A load distribution method for frequency modulation via redundant actuation is also introduced. To show the effectiveness of the proposed algorithms, several simulation results are illustrated.